JP6419080B2 - 外科的処置管理システム及び方法 - Google Patents
外科的処置管理システム及び方法 Download PDFInfo
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- JP6419080B2 JP6419080B2 JP2015545873A JP2015545873A JP6419080B2 JP 6419080 B2 JP6419080 B2 JP 6419080B2 JP 2015545873 A JP2015545873 A JP 2015545873A JP 2015545873 A JP2015545873 A JP 2015545873A JP 6419080 B2 JP6419080 B2 JP 6419080B2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/064—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Biophysics (AREA)
- Electromagnetism (AREA)
- Endoscopes (AREA)
- Surgical Instruments (AREA)
- Image Analysis (AREA)
Description
本出願は、2012年12月7日出願の米国仮特許出願第61/734506号に対する優先権を主張するものであり、上記米国仮特許出願の内容全体は本出願に援用されるものとする。
外科用ツール106が外科用ポート102に近づく及び/又は挿入されると、カメラ104の光学レンズ/視野が追跡要素108及び/又は外科医の手の方向に提供されるように、基部114に設置できる。更なる実施例では、カメラ104は、カメラ104の光学レンズ/視野が患者の身体から離れる方向及び追跡要素108の方向の両方に配向されるように、基部114に設置できる。例えば、外科用ツール106が外科用ポート102に近づいて外科用ポート102内に配置されると、追跡要素108及び/又は外科医の手の画像データをキャプチャするように、カメラ104の光学レンズ/視野を構成することも考えられる。
識別アルゴリズム及びマーカの改善により、システムの認識速度が上昇した。第1のバージョンでは、マーカはボール紙の単純なディスクであり、インクジェットプリンタを用いて印刷されていた。実際のところ、最終的な結果は粗く、色の均一性が不完全なものであり、これは識別システムに誤認をもたらす場合があった。更に、この種のプリンタは最終結果に対して良好な制御を実施できず、従って実際のマーカの色は、コンピュータ上で設計されたものとは異なる見た目となっていた。これはHSV空間内で暗過ぎる色及び近過ぎる色を生成するため、問題であった。コンピュータ上では、複数の色は離れた色調並びに良好な彩度及び輝度を有するように設計されていた。明るく鮮明な色は、影の存在による誤分類のリスクを低減する。第2のバージョンでは、円の検出が追加され、黒色の円をマーカの周囲に追加することにより、マーカを背景から区別しやすくした。
・Agarwal S,Joshi A,Finin T,Yesha Y.A Pervasive Computing System for the Operating Room of the Future.Mobile Networks and Applications.2007;12:215−28.
・Blum T,Padoy N,Feussner H,Navab N.Modeling and online recognition of surgical phases using Hidden Markov Models.Med Image Comput Comput Assist Interv.2008;11:627−35.
・Doryab A,Bardram JE.Designing activity−aware recommender systems for operating rooms.Proceedings of the 2011 Workshop on Context−awareness in Retrieval and Recommendation.New York,NY,USA;2011;43−6.
・Doryab A,Togelius J,Bardram J.Activity−aware recommendation for collaborative work in operating rooms.Proceedings of the 2012 ACM international conference on Intelligent User Interfaces.New York,NY,USA;2012;301−4.
・Kranzfelder M,Schneider A,Blahusch G,Schaaf H,Feussner H.Feasibility of opto−electronic surgical instrument identification.Minim Invasive Ther Allied Technol.2009;18(5):253−8.
・Liu CC,Chang CH,Su MC,Chu HT, Hung SH,Wong JM,et al.RFID−initiated workflow control to facilitate patient safety and utilization efficiency in operation theater.Comput Methods Programs Biomed.2011;104(3):435−42.
・Marjamaa R, Vakkuri A,KirvelA O.Operating room management:why, how and by whom? Acta Anaesthesiologica Scandinavica.2008;52:596−600.
・Neumuth D,Loebe F,Herre H,Neumuth T.Modeling surgical processes:a four−level translational approach.Artif Intell Med.Netherlands.2011;51(3):147−61.
・Neumuth T,Jannin P,Schlomberg J,Meixensberger J,Wiedemann P,Burgert O.Analysis of surgical intervention populations using generic surgical process models.Int J Comput Assist Radiol Surg.2011;6:59−71.
・Neumuth T,Jannin P,Strauss G,Meixensberger J,Burgert O.Validation of knowledge acquisition for surgical process models.J Am Med Inform Assoc.2009;16(1):72−80.
・Neumuth T,Straus G,Meixensberger J,Lemke H,Burgert O.Acquisition of Process Descriptions from Surgical Interventions.Lecture notes in computer science.2006;4080:602−11.
・Padoy N,Blum T,Ahmadi S−A,Feussner H,Berger M−O,Navab N.Statistical modeling and recognition of surgical workflow.Medical Image Analysis.2012;16:632−41.
・Schoepp H.Surgical Navigation System.United States 2012.
Claims (13)
- 外科用ツール追跡システムであって:
患者の体外に配置されるよう構成された近位端と、前記患者の身体の内部に配置されるよう構成された遠位端とを備える外科用ポート、及び前記近位端と前記遠位端との間に延在するチャネル;
前記外科用ポートに挿入される外科用ツールの前記近位端側に位置するハンドル部分に連結するよう構成された追跡要素;並びに
前記追跡要素に関連する画像データをキャプチャするよう構成された、前記外科用ポートの前記近位端に設置されかつ前記追跡要素に向けて配向されるカメラ
を備える、外科用ツール追跡システム。 - 前記外科用ポートはトロカールであり、
前記トロカールは、前記近位端に基部を、そして前記遠位端にカニューレを備え、
前記カメラは前記基部に設置される、請求項1に記載の外科用追跡システム。 - 前記カメラは前記外科用ポートに対して固定位置にある、請求項1に記載の外科用追跡システム。
- 前記カメラは前記外科用ポート上で可動である、請求項1に記載の外科用追跡システム。
- 前記カメラは前記追跡要素に向かって配向される、請求項1に記載の外科用追跡システム。
- 前記カメラは前記患者の前記身体から離れる方向に配向される、請求項1に記載の外科用追跡システム。
- 前記カメラは前記追跡要素を照明するための発光要素を含む、請求項1に記載の外科用追跡システム。
- コンピュータシステムを更に備え、
前記カメラは前記コンピュータシステムと通信して、前記画像データを前記コンピュータシステムに伝送する、請求項1に記載の外科用追跡システム。 - 前記追跡要素は、色、形状、パターン、バーコード及び記号のうちの少なくとも1つを含む、請求項1に記載の外科用追跡システム。
- 外科用ツールを更に備え、
前記外科用ツールは、前記外科用ポートの前記チャネルを通して前記患者の前記身体の内部にアクセスできるようサイズ設定及び構成され、
前記追跡要素は前記外科用ツールに連結される、請求項1に記載の外科用追跡システム。 - 前記追跡要素は、前記外科用ツールの識別、前記外科用ツールの配向及び前記外科用ツールの位置のうちの少なくとも1つに対応する、請求項1に記載の外科用追跡システム。
- 前記追跡要素は、ディスク状デバイスを含む、請求項1に記載の外科用追跡システム。
- 前記カメラは更に、外科医に関連する画像データをキャプチャするよう構成される、請求項1に記載の外科用追跡システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201261734506P | 2012-12-07 | 2012-12-07 | |
US61/734,506 | 2012-12-07 | ||
PCT/US2013/073592 WO2014089439A1 (en) | 2012-12-07 | 2013-12-06 | Surgical procedure management systems and methods |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015536738A JP2015536738A (ja) | 2015-12-24 |
JP6419080B2 true JP6419080B2 (ja) | 2018-11-07 |
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JP2015545873A Expired - Fee Related JP6419080B2 (ja) | 2012-12-07 | 2013-12-06 | 外科的処置管理システム及び方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10470687B2 (ja) |
EP (1) | EP2928406B1 (ja) |
JP (1) | JP6419080B2 (ja) |
CA (1) | CA2893786C (ja) |
WO (1) | WO2014089439A1 (ja) |
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2013
- 2013-12-06 EP EP13860374.1A patent/EP2928406B1/en not_active Not-in-force
- 2013-12-06 US US14/099,430 patent/US10470687B2/en active Active
- 2013-12-06 CA CA2893786A patent/CA2893786C/en not_active Expired - Fee Related
- 2013-12-06 WO PCT/US2013/073592 patent/WO2014089439A1/en active Application Filing
- 2013-12-06 JP JP2015545873A patent/JP6419080B2/ja not_active Expired - Fee Related
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US20140171787A1 (en) | 2014-06-19 |
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